Fuzzy control in seam tracking of the welding robots using sensor fusion

Author

Yamane, Satoshi ; Kaneko, Yasuyoshi ; Hirai, Akira ; Ohshima, Kenji

Author_Institution

Dept. of Electr. Eng., Maizuru Coll. of Technol., Japan

fYear

1994

fDate

2-6 Oct 1994

Firstpage

1741

Abstract

In order to obtain a goad quality of the welding result, it is important to determine the attitude of the welding torch and to trace the orbit in the welding robots. A sensor fusion system with a CCD camera and a touch sensor is proposed for determining the attitude of the torch and tracking the orbit. First, the shape of the work is measured with the touch sensor. The orbit is estimated from the measurement result. The optimum attitude of the torch is determined against the orbit by using the genetic algorithm. Its attitude is stored into the database. Next, the orbit is taken with a CCD camera. A method of processing the image is discussed for detecting the orbit. The robot traces the orbit with the fuzzy controller. Then the attitude of the torch is controlled according to the database. The validity of the sensor fusion system and the fuzzy controller is verified by performing tracking experiments

Keywords

CCD image sensors; attitude control; control system synthesis; fuzzy control; genetic algorithms; image processing; industrial robots; microcomputer applications; optimal control; position control; process control; sensor fusion; tactile sensors; tracking; welding; CCD camera; fuzzy control; genetic algorithm; image processing; measurement; optimum attitude; orbit tracking; seam tracking; sensor fusion; touch sensor; welding robots; welding torch attitude; Cameras; Charge coupled devices; Charge-coupled image sensors; Fuzzy control; Orbital robotics; Position measurement; Robot sensing systems; Robot vision systems; Sensor fusion; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-1993-1

Type

conf

DOI

10.1109/IAS.1994.377663

Filename

377663